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Rover: accept DO_CHANGE_SPEED commands

This commit is contained in:
Randy Mackay 2018-06-09 10:20:05 +09:00
parent 8464e82812
commit a08a955cbc
1 changed files with 20 additions and 0 deletions
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20
APMrover2/GCS_Mavlink.cpp
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@ -510,6 +510,16 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
switch (packet.command) { switch (packet.command) {
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
if (rover.control_mode->set_desired_speed(packet.param2)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
case MAV_CMD_DO_SET_HOME: { case MAV_CMD_DO_SET_HOME: {
// assume failure // assume failure
result = MAV_RESULT_FAILED; result = MAV_RESULT_FAILED;
@ -689,6 +699,16 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
} }
break; break;
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
if (rover.control_mode->set_desired_speed(packet.param2)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_HOME:
{ {
// param1 : use current (1=use current location, 0=use specified location) // param1 : use current (1=use current location, 0=use specified location)